Motion Control/​Automation

The Mars Science Laboratory (MSL) robotic arm is ten times more massive than any Mars robotic arm before it, yet with similar accuracy and repeatability positioning requirements. In order to assess and validate these requirements, a higher-fidelity model and calibration processes were needed.

This innovation replaces the linear alternator presently used in Stirling engines with a continuous-gradient, impedance-matched, oscillating magnetostrictive transducer that eliminates all moving parts via compression, maintains high efficiency, costs less to manufacture, reduces mass, and eliminates the need for a...

This invention is an electronically commutated brushless motor controller that incorporates Hall-array sensing in a small, 42-gram package that provides 4096 absolute counts per motor revolution position sensing. The unit is the size of a miniature hockey puck, and is a 44-pin male connector that provides many I/O...

Current transcranial color Doppler (TCD) transducer probes are bulky and difficult to move in tiny increments to search and optimize TCD signals. This invention provides miniature motions of a TCD transducer probe to optimize TCD signals.

At the Rotation, Processing and Surge Facility (RPSF), the Solid Rocket Booster (SRB) segments are processed after they arrive by rail prior to a Shuttle launch. Using overhead bridge cranes capable of lifting up to 200 tons, the engineers remove the rail cover of the SRB segments, inspect the propellant grain and metal...

The Motion Base Shuttle Mission Simulator (MBSMS) Strain System is an innovative engineering tool used to monitor the stresses applied to the MBSMS motion platform tilt pivot frames during motion simulations in real time. The Strain System comprises hardware and software produced by...

An apparatus, denoted the “retractuator” (a contraction of “retracting actuator”), was designed to help ensure clean separation between the cruise stage and the entry-vehicle subsystem of the Mars Science Laboratory (MSL) mission. The retractuator or an equivalent mechanism is...

Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements, which is described by the well known equation

A robotic arm that consists of three joints with four degrees of freedom (DOF) has been developed. It can carry an end-effector to acquire and transfer samples by using active control and comply with surface topology in a...

The two-axis joint is a mechanical device that provides two-degrees-of-freedom motion between connected components. A compact, moment-resistant, twoaxis joint is used to connect an electromechanical actuator to its driven structural members. Due to the requirements of the overall mechanism, the...

A hand controller provides up to three axes of motion, and all required feel characteristics (stiffness and breakout torques) located inside a hollow handle within the grip of the hand. This is achieved using a miniature gimbal mechanism that allows for independent motion about one, two, or three...

The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wide-angle lenses (as used on the Mars Exploration Rover HazCams)....

Modules of additional drive circuitry have been developed to enhance the functionality of a family of commercially available positioning motors (Picomotor™ or equivalent) that provide linear motion controllable, in principle, to within increments ≤30 nm. A motor of this type includes a...

A remote-controlled, compact Explosive Ordnance Disposal Robot (EOD) has been deployed in Iraq, Afghanistan, and other worldwide locations to secure and transport hazardous, dangerous, or suspicious materials to a safe location where it can be disarmed or destroyed. The...

A computer program controls motors that drive translation stages in a metrology system that consists of a pair of two-axis cathetometers. This program is specific to Compumotor Gemini (or equivalent) motors and the Compumotor 6K-series (or equivalent) motor controller. Relative to the software supplied...

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid- size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and...